This package provides a universal library for implementing systems based on VDA 5050 in TypeScript/JavaScript running in Node.js and modern browsers. The library implements the VDA 5050 specification version 1.1 and version 2.0 "Interface for the communication between automated guided vehicles (AGV) and a master control".
This package comes with complete API documentation and an overview slide deck of the library in the context of the VDA 5050 specification.
In addition, this project includes an example that demonstrates best practices and typical usage patterns of the library on the master control side.
This library is accompanied by a command line interface with tools useful for developing VDA 5050 applications. It features an MQTT broker for development testing, professionally designed JSON schemas of the VDA 5050 topics, and a code generator to create type definitions from these schemas in various programming languages.
The key objectives of this library are:
- Encapsulate complex control logic & flows of order, action, and state management/handling into reusable components.
- Provide abstraction layers for coordination/vehicle plane and communication.
- Adapt to vehicle-specific navigation & control interfaces through uniform protocol adapters realized by integrators or AGV manufacturers.
- Use library components on coordination/vehicle plane in combination or separately.
- Support custom VDA 5050 actions and extension topics/object models.
This library supports cross platform deployments (Linux, Win, macOS, Android, iOS) and runtime environments (Edge, Cloud, Docker, Browser). Ease of programming and reuse is ensured by an object-oriented software design of configurable, extensible, and pluggable components. The library encourages a modern and clean programming style of asynchronous operations by means of the async-await pattern.
Install the latest stable version of this library:
npm install vda-5050-libThis package uses ECMAScript version ES2019 and module format commonjs. It
runs in Node.js v11 or newer and in modern browsers.
This library supports two abstraction layers:
- A high-level abstraction of the VDA 5050 control logic & flows on the coordination plane (master control) and on the vehicle plane (AGV).
- A Pub-Sub communication abstraction over MQTT messaging.
Both layers can be used in combination or separately as the classes implementing the control logic abstraction layer extend from classes that implement the communication abstraction layer.
Tip: UML class diagrams of all library components can be found in this project documentation folder.
Tip: The integration test suite accompanying the library provides a valuable source of examples demonstrating how to use the library on both layers.
This layer is realized by a Master Controller on the coordination plane and by an AGV Controller on the vehicle plane. The AGV Controller connects to vehicle-specific navigation and control systems by so-called plug-in AGV adapters that expose a uniform AGV interface to the AGV Controller and adapt to vehicle-specific operations.
The following example shows how to set up and operate a Master Controller to assign orders and to initiate instant actions as well as to handle order/instant action related events in the application. For details please consult the API documentation.
// Create instance of Master Controller with minimal client options: communication namespace and broker endpoint address.
const masterController = new MasterController({ interfaceName: "logctx42", transport: { brokerUrl: "mqtt://mybroker.com:1883" }, vdaVersion: "2.0.0" });
// The target AGV.
const agvId001: AgvId = { manufacturer: "RobotCompany", serialNumber: "001" };
// Define a pick & drop order with two base nodes and one base edge.
const order: Headerless<Order> = {
orderId: masterController.createUuid(),
orderUpdateId: 0,
nodes: [
{
nodeId: "productionunit_1", sequenceId: 0, released: true, nodePosition: { x: 0, y: 0, mapId: "local" },
actions: [{ actionId: "a001", actionType: "pick", blockingType: BlockingType.Hard, actionParameters: [{ key: "stationType", value: "floor" }, { key: "loadType", value: "EPAL" }] }],
},
{
nodeId: "productionunit_2", sequenceId: 2, released: true, nodePosition: { x: 100, y: 200, mapId: "local" },
actions: [{ actionId: "a002", actionType: "drop", blockingType: BlockingType.Hard, actionParameters: [{ key: "stationType", value: "floor" }, { key: "loadType", value: "EPAL" }] }],
},
],
edges: [
{ edgeId: "productionunit_1_2", sequenceId: 1, startNodeId: "productionunit_1", endNodeId: "productionunit_2", released: true, actions: [] },
],
};
// Start client interaction, connect to MQTT broker.
await masterController.start();
// Assign order to target AGV and handle incoming order change events.
await masterController.assignOrder(agvId001, order, {
onOrderProcessed: (withError, byCancelation, active, ctx) => console.log("Order processed"),
// Optional callbacks, use if required.
onNodeTraversed: (node, nextEdge, nextNode, ctx) => console.log("Order node traversed: %o", node),
onEdgeTraversing: (edge, startNode, endNode, stateChanges, invocationCount, ctx) => console.log("Order edge traversing: %o %o", edge, stateChanges),
onEdgeTraversed: (edge, startNode, endNode, ctx) => console.log("Order edge traversed: %o", edge),
onActionStateChanged: (actionState, withError, action, target, ctx) => console.log("Order action state changed: %o %o %o", actionState, action, target),
});
// Initiate an instant action and handle incoming action change events.
await masterController.initiateInstantActions(agvId001, {
instantActions: [{
actionId: masterController.createUuid(),
actionDescription: "initialize position to x:10 y:10 on map floor2",
actionType: "initPosition",
blockingType: BlockingType.Hard,
actionParameters: [
{ key: "x", value: 10 },
{ key: "y", value: 10 },
{ key: "theta", value: 0 },
{ key: "mapId", value: "floor2" },
{ key: "lastNodeId", value: "n1" },
],
}],
}, {
onActionStateChanged: (actionState, withError, action, agvId, state) => console.log("Instant action state changed: %o %o %o", actionState, withError, action),
onActionError: (error, action, agvId, state) => console.log("Instant action error: %o %o %o", error, action, state),
});The following example shows how to set up an AGV Controller with a specific plug-in AGV adapter. An AGV Controller processes orders and instant actions according to VDA 5050 control logic & flows, delegates vehicle-specific operations to the associated adapter, manages state and visualization changes, and reports them back to master control.
// Use minimal client options: communication namespace and broker endpoint address.
const agvClientOptions: ClientOptions = { interfaceName: "logctx42", transport: { brokerUrl: "mqtt://mybroker.com:1883" }, vdaVersion: "2.0.0" };
// The target AGV.
const agvId001: AgvId = { manufacturer: "RobotCompany", serialNumber: "001" };
// Specify associated adapter type; use defaults for all other AGV controller options.
const agvControllerOptions = {
agvAdapterType: VirtualAgvAdapter,
};
// Use defaults for all adapter options of Virtual AGV adapter.
const agvAdapterOptions: VirtualAgvAdapterOptions = {};
// Create instance of AGV Controller with client, controller, and adapter options.
const agvController = new AgvController(agvId001, agvClientOptions, agvControllerOptions, agvAdapterOptions);
// Start client interaction, connect to MQTT broker.
await agvController.start();The Virtual AGV Adapter used in the above example is part of the library. It supports free autonomous navigation along edges, and a basic, yet extensible set of actions. It is meant to be used as a template for realizing your own adapter, for simulation purposes, integration testing, and in other kind of environments where real AGVs are not available or must be mocked.
In general, any AGV Adapter class must implement a uniform interface that comprises the following vehicle-specific operations:
- Traverse an edge
- Stop traversing an edge
- Check if a node, edge, or instant action is executable
- Execute and cancel a node, edge, or instant action
- Terminate an edge action
- Report changes in action and vehicle state to AGV Controller
- Check if a route of nodes and edges is traversable
- Check if vehicle is positioned/oriented within a node's deviation range
- Calculate trajectory paths (optional, if supported)
This layer abstracts VDA 5050 messaging over the MQTT transport protocol. It is based on an abstract Client class that provides basic methods for publishing on and subscribing to VDA 5050 topics, featuring
- type-safe use of VDA 5050 objects with type definitions autogenerated from JSON schemas,
- schema-based validation of inbound and outbound VDA 5050 messages,
- efficient subscription-based message dispatching, and
- extensibility by custom VDA 5050 topics and object types.
The Client class also provides a rich set of configurable options that control MQTT communication features, including
- MQTT protocol version (3.1.1, 5.0)
- MQTT transport options: TCP, WebSocket, TLS
- MQTT topic structure
- Automatic reconnect to MQTT broker
- Regular heartbeat exchange with MQTT broker
- Offline buffering of publications and subscriptions (if required)
All these options have recommended defaults which are used throughout the examples in this document.
The following example shows how to set up a Master Control Client that subscribes to state and visualization topics, publishes order topics, and tracks the connection state of AGVs.
// Create instance of Master Control Client with minimal options: communication namespace and broker endpoint address.
const mcClient = new MasterControlClient({ interfaceName: "logctx42", transport: { brokerUrl: "mqtt://mybroker.com:1883" }, vdaVersion: "2.0.0" });
// Start client interaction, connect to MQTT broker.
await mcClient.start();
// Observe Visualization objects from all AGVs manufactured by "RobotCompany".
const visSubscriptionId = await mcClient.subscribe(Topic.Visualization, { manufacturer: "RobotCompany" }, vis => console.log("Visualization object received: %o", vis));
// Publish an Order object targeted at a specific AGV.
const agvId001: AgvId = { manufacturer: "RobotCompany", serialNumber: "001" };
const order: Headerless<Order> = {
orderId: "order0001",
orderUpdateId: 0,
nodes: [{ nodeId: "productionunit_1", sequenceId: 0, released: true, actions: [] }, { nodeId: "productionunit_2", sequenceId: 2, released: true, actions: [] }],
edges: [{ edgeId: "edge1_1", sequenceId: 1, startNodeId: "productionunit_1", endNodeId: "productionunit_2", released: true, actions: [] }],
};
const orderWithHeader = await mcClient.publish(Topic.Order, agvId001, order);
console.log("Published order %o", orderWithHeader);
// Observe State objects emitted by the specific AGV Client.
const stateSubscriptionId = await mcClient.subscribe(Topic.Order, agvId001, state => {
console.log("State object received: %o", state);
// Detect order state changes by delta comparison of received State objects.
});
// Track online-offline connection state of all AGVs within the context "logctx42".
mcClient.trackAgvs((agvId, connectionState, timestamp) => console.log("AGV %o changed connection state to %s at %d", agvId, connectionState, timestamp));
// Stop observing Visualization and State objects.
mcClient.unsubscribe(visSubscriptionId);
mcClient.unsubscribe(stateSubscriptionId);
// Stop client interaction gracefully; disconnect from MQTT broker.
await mcClient.stop();The following example shows how to set up an AGV Control Client that subscribes to order topics, and publishes state and visualization topics.
Usually, there should be no need to use this component as the AGV Controller subclass provides a ready-to-use implementation of the complete control logic on the vehicle plane.
const currentState = {} as State;
const currentPosition = {} as AgvPosition;
const currentVelocity = {} as Velocity;
// The target AGV.
const agvId001: AgvId = { manufacturer: "RobotCompany", serialNumber: "001" };
// Create instance of AGV Client "001" with minimal options: communication namespace and broker endpoint address.
const agvClient = new AgvClient(agvId001, { interfaceName: "logctx42", transport: { brokerUrl: "mqtt://mybroker.com:1883" }, vdaVersion: "2.0.0" });
// Start client interaction, connect to MQTT broker.
await agvClient.start();
// Observe Order objects emitted by the Master Control Client.
await agvClient.subscribe(Topic.Order, order => {
console.log("Order object received: %o", order);
// Start order handling according to VDA 5050 specification and
// report order state changes by publishing State objects.
agvClient.publish(Topic.State, currentState);
});
// Periodically publish Visualization messages with AgvPosition and Velocity.
setInterval(
() => agvClient.publish(Topic.Visualization,
{ agvPosition: currentPosition, velocity: currentVelocity },
{ dropIfOffline: true }),
1000);The library supports VDA 5050 protocol extensions on two levels:
- Custom, non-predefined instant, node, and edge actions are handled by providing custom AGV adapters that support them.
- Custom extension topics and object types can be registered with Master Control and AGV Control clients.
The following example shows how to define and use an extension topic for inbound and outbound communication on a Master Controller:
// Create instance of Master Controller with minimal client options: communication namespace and broker endpoint address.
const masterController = new MasterController({ interfaceName: "logctx42", transport: { brokerUrl: "mqtt://mybroker.com:1883" }, vdaVersion: "2.0.0" });
// Define extension object type including header properties.
interface MyExtensionObject extends Header {
key1: number;
key2: string;
}
// Define a validator function for the extension topic/object (optional).
const myExtensionValidator: ExtensionValidator = (topic, object) => {
if (typeof object?.key1 !== "number" || typeof object?.key2 !== "string") {
throw new TypeError("Extension object is not valid");
}
};
// Register extension topic with validator for both inbound (subscribe) and outbound (publish) communication.
masterController.registerExtensionTopic("myExtension", true, true, myExtensionValidator);
// Start client interaction, connect to MQTT broker.
await masterController.start();
// Observe myExtension messages from all AGVs manufactured by "RobotCompany".
await masterController.subscribe("myExtension",
{ manufacturer: "RobotCompany" },
(object: ExtensionObject, subject: AgvId, topic: string) => console.log("Extension topic %s with object %o received from AGV %o", topic, object, subject));
// Publish myExtension object to AGV "001".
await masterController.publish("myExtension",
{ manufacturer: "RobotCompany", serialNumber: "001" },
{ key1: 42, key2: "foo" });For the sake of brevity the examples shown in this document do not include error handling. You should carefully follow best practices when using the library:
- The asynchronous publish/subscribe/unsubscribe methods throw synchronously on programming errors, i.e. non-operational errors like passing invalid arguments or invoking the function while the client is not started. In contrast, operational errors are always signaled by rejecting the returned promise.
- Always catch and handle errors that might be thrown in your own subscription and event handler callback code.
- Do not perform long-lasting operations in subscription and event callbacks, prefer to execute them asynchronously instead.
To turn on debug output for this library, set the DEBUG environment variable
to vda-5050:*. To enable low-level MQTT debugging, use vda-5050:*,mqttjs*.
Use * to debug all debug-enabled modules in your application.
If you like this package, please consider ★ starring the project on github. Contributions are welcome and appreciated.
The recommended practice described in the contribution guidelines of the Coaty JS framework also applies here.
To release a new version of this package, run npm run release. This includes
automatic version bumping, generation of a conventional changelog based on git
commit history, git tagging and pushing the release, and publishing the package
on npm registry. For a dry test run, invoke npm run release:dry.
Code and documentation copyright 2021 Siemens AG.
Code is licensed under the MIT License.
Documentation is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.